EP0161668A2 - Procédé de navigation pour véhicules, en particulier pour véhicules terrestres - Google Patents

Procédé de navigation pour véhicules, en particulier pour véhicules terrestres Download PDF

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Publication number
EP0161668A2
EP0161668A2 EP85105918A EP85105918A EP0161668A2 EP 0161668 A2 EP0161668 A2 EP 0161668A2 EP 85105918 A EP85105918 A EP 85105918A EP 85105918 A EP85105918 A EP 85105918A EP 0161668 A2 EP0161668 A2 EP 0161668A2
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EP
European Patent Office
Prior art keywords
vehicle
time
error
course
support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP85105918A
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German (de)
English (en)
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EP0161668A3 (en
EP0161668B1 (fr
Inventor
Bernd-Christian Dipl.-Ing. Pawelek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rockwell Collins Deutschland GmbH
Original Assignee
Teldix GmbH
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Publication date
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Publication of EP0161668A2 publication Critical patent/EP0161668A2/fr
Publication of EP0161668A3 publication Critical patent/EP0161668A3/de
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Publication of EP0161668B1 publication Critical patent/EP0161668B1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning

Definitions

  • the invention relates to a navigation method according to the preamble of the main claim.
  • a location method of the type mentioned is known from DE-PS 20 33 279.
  • the method is used in a vehicle navigation system which determines the position of the vehicle in the lattice coordinate system from the course angle supplied by the course reference device and related to a UTM lattice coordinate system, and from the travel seminals obtained by integrating the vehicle speed. Position errors occurring during the journey, which are not linearly related to the route or travel time, are eliminated by comparing the displayed and actual location at the point in time at which the vehicle is at a known terrain point, a path adjustment factor determined and the course angle is corrected.
  • the object of the invention is therefore to create a navigation method which, with the use of simple sensors, delivers the highest possible, time-constant accuracy of all vehicle navigation data.
  • the main advantage of the invention lies in the creation of a navigation system which receives navigation signals both from vehicle-specific sensors such as course and speed or travel sensors, and from additional input means, and which forms optimized navigation data by using the modified Kalman filter. Additional input means are, for example, manual input of the location, but also receiving devices for radio and / or satellite navigation methods, which are known, for example, under the names "Transit” or "GPS-Navstar” (see DE oS 28 43 812).
  • course and / or vehicle longitudinal movement support data from the signals of a radio and / or satellite navigation system and to compare them with the improved signals of the course reference device and / or the signals of the vehicle longitudinal movement sensor.
  • the comparison data are then also fed to the modeling block for the malfunction and the Kalman filter.
  • a correction of the stochastic vehicle longitudinal motion error components is also carried out, for which purpose appropriate correction values are then formed using the Kalman filter longitudinal motion error estimate and the vehicle longitudinal motion signals are additionally activated.
  • the block diagram in FIG. 1 shows a navigation system as is used, for example, in land vehicles.
  • a speed sensor 1 and a direction meter 2, for example a course gyro, are provided for sensing the longitudinal movement of the vehicle.
  • the measured values (VM) for speed and course (eM.) Delivered by sensors 1, 2 and checked for plausibility (e.g. course and speed change and maximum value queries, but also statistical diagnostic computing concepts such as mean value and variance estimates) ) are incorrect values. Errors represent, in particular, apparent drift, random drift, wheel slip and the like.
  • the measured values at node 3, 4 are therefore the deterministic error components (0F (V)); (DF (e)) fed.
  • correction values (C (e)) and (C (V)) supplied by the Kalman filter described in more detail below are applied to these connection points, with (C (V)) using a proportionality factor (block 5) to determine the current one Speed measured values of the speed sensor is adjusted.
  • the signals for the speed and course corrected in this way arrive at a basic navigation unit (block 6), which forms the speed in components for the north and east direction and feeds these to the position computer (block 7) and a modeling block (8) for the error behavior.
  • the Kalman filter is used to estimate the entire modeled navigation errors.
  • the navigation errors extrapolated in this way are used to calculate the above-mentioned correction variables, which are fed back into the navigation system for error compensation.
  • the system thus designed in a closed control loop then automatically delivers the "optimally" improved navigation parameters which can be displayed via the display means (block 16).
  • the modeling and Kalman filter algorithms are first formulated in the event that position data is only entered manually from time to time. See FIG. 4 for this.
  • the present navigation system with the help of a digital computer - especially microcomputer, for. B. as a permanently programmed 2- or 3- (with integration of GPS-Navstar) microprocessor system with MOTOROLA MC 68000 processors - can be realized or simulated, the continuous-time system and measurement error (differential) equations (14) and ( 15) or (16) to (27) - the position fixes (supports) take place anyway at discrete times - are converted into time-discrete difference equations.
  • time axis shown in FIG. 2 is intended to clarify the relationship between continuous time t, the processing times required for carrying out coupling and Kalman filter calculations, and the times at which position fixes (supports) take place.
  • the transition from the continuous-time to the discrete-time system takes place via the determination of the so-called transition matrix.
  • the aborted series approach is proposed as the calculation method.
  • T KA in With gzV integer multiples same strips (the coupling cycle time T KO is recommended)
  • the time-continuous system error equation (20) thus changes into the time-discrete form with the time-discrete system noise vector and D ( ⁇ ), W ( ⁇ ) according to Eq. (23) and (17).
  • time-discrete Kalman filter algorithms suitable for a microcomputer implementation are formulated as follows:
  • the discrete-time Kalman filter thus quasi continuously supplies the a posteriori estimation errors as well as the a priori and a posteriori estimation error covariance matrices. From these estimated values with minimal error variance, "optimal" correction values can now be calculated directly, which are fed back into the navigation system for error compensation. The resulting navigation system in the closed control loop-corrected navigation system - then automatically generates the "optimally" improved navigation data, i.e. Data with minimal errors.
  • the coupling calculation in the corrected navigation system can in turn be carried out according to the 2 methods already described
  • the state space representation of the time-discrete system and measurement (support) error equations is carried out according to the procedures for the uncorrected case. These equations form the prerequisite for the use of the modified time-discrete Kalman filter formulated below for the corrected navigation system.
  • Equally unaffected by quasi-simultaneous multiple supports is the time-discrete coupling calculation according to Eq. (40) or (41) with the current speed and course information from the speed sensor and direction meter.
  • the coupling calculation in the corrected navigation system is again according to Eq. (54a) and (54b) or Eq. (55a) and (55b).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Polyurethanes Or Polyureas (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
EP85105918A 1984-05-16 1985-05-14 Procédé de navigation pour véhicules, en particulier pour véhicules terrestres Expired - Lifetime EP0161668B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3418081 1984-05-16
DE19843418081 DE3418081A1 (de) 1984-05-16 1984-05-16 Ortungsverfahren fuer fahrzeuge, insbesondere fuer landfahrzeuge

Publications (3)

Publication Number Publication Date
EP0161668A2 true EP0161668A2 (fr) 1985-11-21
EP0161668A3 EP0161668A3 (en) 1988-08-24
EP0161668B1 EP0161668B1 (fr) 1992-03-04

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EP85105918A Expired - Lifetime EP0161668B1 (fr) 1984-05-16 1985-05-14 Procédé de navigation pour véhicules, en particulier pour véhicules terrestres

Country Status (5)

Country Link
US (1) US4680715A (fr)
EP (1) EP0161668B1 (fr)
CA (1) CA1234216A (fr)
DE (2) DE3418081A1 (fr)
NO (1) NO166901C (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4027393A1 (de) * 1990-08-30 1992-03-12 Honeywell Regelsysteme Gmbh Kompensationsfilter fuer die ausrichtung von navigationssystemen im fluge
WO1997011334A1 (fr) * 1995-09-19 1997-03-27 Litef Gmbh Systeme de navigation pour un vehicule, notamment pour un vehicule routier
WO1998035206A1 (fr) * 1997-02-10 1998-08-13 Leica Ag Procede de determination de parametres de correction
WO1999032852A1 (fr) * 1997-12-22 1999-07-01 Litef Gmbh Etalonnage automatique rapide d'une mesure d'un vecteur de vitesse, effectuee de maniere autonome a bord d'un vehicule
DE102016222272A1 (de) * 2016-11-14 2018-05-17 Volkswagen Aktiengesellschaft Schätzen einer Eigenposition
WO2021047856A1 (fr) * 2019-09-12 2021-03-18 Robert Bosch Gmbh Procédé de détermination de position d'un objet à l'aide de différents éléments d'informations de capteur

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US4924402A (en) * 1986-07-02 1990-05-08 Pioneer Electronic Corporation Method for identifying current position of vehicle
WO1988001409A1 (fr) * 1986-08-20 1988-02-25 Grumman Aerospace Corporation Filtre kalman reparti
JPH01214711A (ja) * 1988-02-23 1989-08-29 Toshiba Corp ナビゲーション装置
CA1321418C (fr) * 1988-10-05 1993-08-17 Joseph C. Mcmillan Systeme de navigation terrestre pour l'arctique
DE3927768A1 (de) * 1989-08-23 1991-02-28 Perkin Elmer Corp Verfahren zur konzentrationsbestimmung mittels atomemissions-spektroskopie
WO1991009375A1 (fr) * 1989-12-11 1991-06-27 Caterpillar Inc. Systeme, appareil et procede integres de calcul de position et de navigation pour vehicules
US5610815A (en) * 1989-12-11 1997-03-11 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
US5390125A (en) * 1990-02-05 1995-02-14 Caterpillar Inc. Vehicle position determination system and method
US5650703B1 (en) * 1990-06-28 1999-03-02 Hk Systems Inc Downward compatible agv system and methods
US5347456A (en) * 1991-05-22 1994-09-13 The Regents Of The University Of California Intelligent roadway reference system for vehicle lateral guidance and control
US10361802B1 (en) 1999-02-01 2019-07-23 Blanding Hovenweep, Llc Adaptive pattern recognition based control system and method
US8352400B2 (en) 1991-12-23 2013-01-08 Hoffberg Steven M Adaptive pattern recognition based controller apparatus and method and human-factored interface therefore
EP0567268B1 (fr) * 1992-04-20 1997-10-01 Sumitomo Electric Industries, Limited Dispositif pour détecter le cap d'un véhicule
US5357437A (en) * 1992-07-01 1994-10-18 Westinghouse Electric Corporation Magnetic marker position fixing system for underwater vehicles
US5332180A (en) * 1992-12-28 1994-07-26 Union Switch & Signal Inc. Traffic control system utilizing on-board vehicle information measurement apparatus
US5657232A (en) * 1993-03-17 1997-08-12 Aisin Seiki Kabushiki Kaisha Onboard positioning system
EP0715150B1 (fr) * 1994-11-29 1999-09-01 Xanavi Informatics Corporation Système de navigation avec commutation quand un signal de radio n'est pas recevable
US5825326A (en) * 1996-07-09 1998-10-20 Interstate Electronics Corporation Real-time high-accuracy determination of integer ambiguities in a kinematic GPS receiver
US7268700B1 (en) 1998-01-27 2007-09-11 Hoffberg Steven M Mobile communication device
US8364136B2 (en) 1999-02-01 2013-01-29 Steven M Hoffberg Mobile system, a method of operating mobile system and a non-transitory computer readable medium for a programmable control of a mobile system
US7966078B2 (en) 1999-02-01 2011-06-21 Steven Hoffberg Network media appliance system and method
EP1257785A1 (fr) * 2000-02-21 2002-11-20 Siemens Aktiengesellschaft Procede et dispositif de production d'une information de position globale pour un systeme
SE523023C2 (sv) * 2000-04-12 2004-03-23 Nira Dynamics Ab Metod och anordning för att med rekursiv filtrering bestämma en fysikalisk parameter hos ett hjulfordon
US6772062B2 (en) 2001-05-31 2004-08-03 The Regents Of The University Of California Intelligent ultra high speed distributed sensing system and method for sensing roadway markers for intelligent vehicle guidance and control
US20040153216A1 (en) * 2003-01-30 2004-08-05 Visteon Global Technologies, Inc. Method for estimating a vehicle's velocity
US9818136B1 (en) 2003-02-05 2017-11-14 Steven M. Hoffberg System and method for determining contingent relevance
US7983835B2 (en) 2004-11-03 2011-07-19 Lagassey Paul J Modular intelligent transportation system
JP2010117147A (ja) * 2008-11-11 2010-05-27 Seiko Epson Corp 位置算出方法及び位置算出装置
JP2010117148A (ja) * 2008-11-11 2010-05-27 Seiko Epson Corp 位置算出方法及び位置算出装置
JP6060642B2 (ja) * 2012-11-20 2017-01-18 三菱電機株式会社 自己位置推定装置
RU2611895C1 (ru) * 2015-11-12 2017-03-01 Российская Федерация, от имени которой выступает Государственная корпорация по атомной энергии "Росатом" Устройство для измерения перемещений объекта
CN110501013B (zh) * 2019-08-07 2023-09-05 腾讯科技（深圳）有限公司 位置补偿方法、装置及电子设备
CN111595592B (zh) * 2020-05-21 2021-10-12 东南大学 一种自适应巡航控制系统性能测评方法

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4027393A1 (de) * 1990-08-30 1992-03-12 Honeywell Regelsysteme Gmbh Kompensationsfilter fuer die ausrichtung von navigationssystemen im fluge
WO1997011334A1 (fr) * 1995-09-19 1997-03-27 Litef Gmbh Systeme de navigation pour un vehicule, notamment pour un vehicule routier
US6205401B1 (en) 1995-09-19 2001-03-20 Litef Gmbh Navigation system for a vehicle, especially a land craft
WO1998035206A1 (fr) * 1997-02-10 1998-08-13 Leica Ag Procede de determination de parametres de correction
AU723107B2 (en) * 1997-02-10 2000-08-17 Leica Geosystems Ag Method to determine correction parameters
WO1999032852A1 (fr) * 1997-12-22 1999-07-01 Litef Gmbh Etalonnage automatique rapide d'une mesure d'un vecteur de vitesse, effectuee de maniere autonome a bord d'un vehicule
DE102016222272A1 (de) * 2016-11-14 2018-05-17 Volkswagen Aktiengesellschaft Schätzen einer Eigenposition
DE102016222272B4 (de) 2016-11-14 2018-05-30 Volkswagen Aktiengesellschaft Schätzen einer Eigenposition
WO2021047856A1 (fr) * 2019-09-12 2021-03-18 Robert Bosch Gmbh Procédé de détermination de position d'un objet à l'aide de différents éléments d'informations de capteur
US12365352B2 (en) 2019-09-12 2025-07-22 Robert Bosch Gmbh Method for determining an object's position using different items of sensor information

Also Published As

Publication number Publication date
NO166901B (no) 1991-06-03
DE3418081C2 (fr) 1993-04-01
DE3418081A1 (de) 1985-11-21
EP0161668A3 (en) 1988-08-24
NO166901C (no) 1991-09-11
CA1234216A (fr) 1988-03-15
NO851880L (no) 1985-11-18
US4680715A (en) 1987-07-14
DE3585456D1 (de) 1992-04-09
EP0161668B1 (fr) 1992-03-04

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